基于稀疏A*算法与文化算法的无人机动态航迹规划

摘要

针对无人机动态航迹规划问题,结合数字地形和天气等信息建立全数字概率地图,采取先离线静态全局规划后在线实时动态规划的两级分层规划方法,基于稀疏A*算法与文化算法实现了无人机动态航迹规划,改善了稀疏A*算法的绕径问题,提高了航迹的可靠性和实时性.%For dynamic path planning of unmanned aerial vehicle (UAV),we combine digital terrain,weather information,and other data to establish a full digital probability map.We then use a two level hierarchical planning method that includes offiine static planning and online real-time dynamic planning to realize dynamic path planning of UAV.The method is based on the sparse A* algorithm and cultural algorithm (CA).It solves the winding problem of sparse A* algorithm and improves reliability and real-time performance of tracking.